System and method for facilitating fluid three-dimensional movement of an object via directional force

ABSTRACT

A reeving system for filming movies, sporting events, or any other activity that requires fluid movement of a camera or other object to any position within a defined volume of space. To accomplish positioning embodiments move an object throughout three-dimensional space by relocating one or more lines that are feed through a plurality of opposing sides of the object. These line(s) (e.g., a cable, rope, string, cord, wire, or any other flexible connective element) which support the object from above or below the object within a volume of space are arranged in way that allows the object to be rapidly moved to and from any location within the defined volume of space. For instance, the system may be arranged to perform dimensional movement using one line configured as an endless loop, one line configured as a half loop, two lines configured as endless loops or two lines configured as half loops. Other embodiments which split the two lines at the X and Y junctions may yield three and four rope embodiments which are in keeping with the spirit of the invention.

This application is a continuation of U.S. patent application Ser. No.10/709,944, filed on Jun. 8, 2004 entitled “System and Method forFacilitating Fluid Three-Dimensional Movement of an Object viaDirectional Force” which is hereby incorporated herein by reference.This application is a continuation in part of U.S. patent applicationSer. No. 10/604,525, filed on Jul. 28, 2003 entitled “System and Methodfor Moving Objects within Three-Dimensional Space”, now U.S. Pat. No.6,809,495 which is hereby incorporated herein by reference. Thisapplication is a continuation in part of U.S. patent application Ser.No. 10/708,158, filed on Feb. 12, 2004 entitled “Cabling System andMethod for Facilitating Fluid Three-Dimensional Movement of a SuspendedCamera” which is hereby incorporated herein by reference.

BACKGROUND OF THE INVENTION

1. Field of the Invention

Embodiments of the invention described herein pertain to the field ofaerial cable rail systems. More particularly, these embodiments enablethe movement of objects within three-dimensional space.

2. Description of the Related Art

An aerial cable rail system is a system based on an elevated cable orrope, along which objects are transported. Existing cable rail systemsrely on large fixed structures and/or complex control systems in orderto facilitate the movement of objects. Many of these systems areimpractical or difficult to use in that such systems typically fail tosatisfactorily achieve the full spectrum of platform stability, ease ofcontrol, a compact footprint, ease of transport, speed, load bearing,extensibility, maintainability and platform stability.

Objects have been supported and moved through three-dimensional spacevia ropes and cables for various purposes in the past. In U.S. Pat. No.494,389 to Sherman granted in 1893, a device is described allowing formovement of a hoist through three dimensional space via a complexarrangement of cables and pulleys. A logging system is described in U.S.Pat. No. 1,782,043 to Lawson granted in 1926 employs large amounts ofcable and extensive reeving in order to suspend and move logs over largedistances. A similar rope crane is described in U.S. Pat. No. 3,065,861to Cruciani granted in 1960. These systems generally employ one or morehighlines which are tightly stretched and from which an object issuspended. Other patents such as U.S. Pat. No. 3,043,444 to Meltongranted in 1962 and French patent 2,318,664 to Kennedy granted in 1977took a different approach to suspending and moving objects through threedimensional space by using one cable per support pulley per winch. The'444 and '664 patents minimize the amount of cable in the system but donot allow for simple control of the cables in the system since thespeeds and lengths of each cable must change non-uniformly dependingupon the path of motion of the supported object.

The cable movement systems previously mentioned were generally used tohaul equipment or material. Simple cable support systems have also beenused to support cameras in three-dimensional space on ropes with varyingdegrees of success. In U.S. Pat. No. 367,610 to Fairman granted in 1887,a balloon moved with two guy lines is described that allows a camera totake pictures from locations high above the ground. In U.S. Pat. No.578,980 to Eddy granted in 1897, a group of cameras is hoisted on a kitestring attached to a reel in order to capture panoramic photographs. InU.S. Pat. No. 894,348 to Seele granted in 1908, a camera is dropped froma balloon in a sphere in order to eliminate the undesirable pendulumeffects and motion effects of wind from the resulting photograph that isexposed when a shutter string is fully extended. The '348 patent maypossibly be the first patent that attempts to isolate an airborne camerafrom the jarring effects of the vehicle carrying the camera. In U.S.Pat. No. 1,002,897 to Brown granted in 1911, a camera is directlyattached to a kite string with a timer in the form of a propeller thattakes a picture after a certain period of time. In U.S. Pat. No.1,301,967 to Parks granted in 1919, a kite string based camera isdescribed that travels along the kite string to a preset point takes aphotograph and automatically descends back down the kite string so thatthe kite does not have to be lowered between photos.

During the 1920's work was begun on stabilizing cameras carried invehicles since the movement of the vehicles was limiting the quality ofthe photographs obtained. In U.S. Pat. No. 1,634,950 to Lucian grantedin 1927, a gyro-stabilized camera mount is described that activelystabilizes a camera in the pitch and roll axes in order to keep a cameraactively isolated from the undesired angular motion of the aerial, landor marine vehicle carrying the camera through three-dimensional space.Many other gyro-stabilizer patents were awarded after Lucian '950 andteach active stabilization for equipment when that equipment issupported by a moving vehicle.

In U.S. Pat. No. 4,710,819, a camera suspension system is described thatutilizes a minimum of at least three cables wherein each cable has twoends with one end of each cable fixedly attached to an equipment supportmember and the other end of each cable fixedly attached to a winch. Inbetween the fixedly attached endpoints lies a pulley that is used as asupport for the cable to provide a vertical offset between the groundand the equipment support member. Movement is achieved by reeling thecables in and out to position the camera with motion between two pointsgenerally requiring all cables to move simultaneously at differentrates.

In U.S. Pat. No. 4,625,938, a camera support system is disclosed inwhich a camera payload can be moved within three-dimensional space in away that allows for active stabilization of velocity of the panning(vertical axis) of the equipment support member.

In U.S. Pat. No. 5,440,476, a cable support system is described formoving objects by extending and retracting independent ropes thatcorrespond one-to-one with the number of winches and support pulleyssupporting a central object. Even simple one axis movement requires thatall ropes in the system change length in a coordinated fashion toprevent slack in the other ropes supporting the object. The '476 devicecannot be operated in its best mode without a computerized controlsystem as is true for the '938 and '819 devices previously mentioned.

In U.S. Pat. No. 6,566,834, an invention is disclosed in which a payloadcan be moved and angularly positioned within three-dimensional space.The invention requires a computer control system in order to calculatethe change in lengths of the supports ropes in order to move the payloadbetween two points. The invention appears to require power at theplatform and locates the winches for the system on the platform, furtherreducing the payload capacity of the platform. Furthermore, theinvention does not provide simple X, Y and Z independence for controlpurposes and it appears that complex sensing devices must be deployed inorder to keep the cables tensioned properly.

In U.S. Pat. No. 5,585,707, an invention is disclosed in which a robotor person can be readily moved within three-dimensional space. Thepayload is limited and the support structure is small scale. If thestructure were to be scaled up, obstacles such as goal posts or lightpoles would inhibit the motion of the payload through a path between twopoints defined within the cube, since there are numerous wires requiredto practice the invention. Also, the invention would not appear to allowthe Z-axis to vary beneath the cube, and the size of the cube supportstructure to service a large volume of space would be extremelyexpensive to build on the scale required. Again, complex control isrequired to keep the tension in all of the ropes at the correct levelduring movement of the supported equipment.

In U.S. Pat. No. 5,568,189, an invention is disclosed for moving camerasin three-dimensional space. The problems with the '189 invention becomeapparent when attempting to enlarge the scale of the system. FIG. 4clearly shows how the two parallel highline cables sag inward, when thepayload is in the middle of the X, Y space. Since the invention does notuse strong rails to support the Y-axis rope, the weight bearing of theinvention is dependent upon the strength of the building or structure inwhich it is mounted and the springs in its weight bearing X-axisconnectors. The motors for the various axes are mounted up in therigging, which would require multiple extremely long power cables totraverse the volume of space along with the payload if the inventionwere modified for outdoor use. The power cables would total over 3 timesthe length of the longest axis to drive the far X-axis motor, the Y-axismotor and the Z-axis motor. Mounting heavy motors high in the riggingpresents a major safety issue given that suspension lines can break. Thesize of the motors limits the payload that can be carried, and furtherlimits the speed at which the payload can be carried. The invention isalso fixed in size, not allowing for modular addition of X travel, orincreasing the Y or Z-axis travel without mounting the structure in abigger studio or building a bigger hanger. The system requires fourropes to move an object in three dimensions.

BRIEF SUMMARY OF THE INVENTION

Embodiments of the invention are ideally suited for moving objectsthrough three-dimensional space using one or more lines. For instance,various embodiments of the invention provide mechanisms for positioningan object such as a human, mining implement, logging implement,manufactured object or any other useful object such as a camera. Thus itis possible to use embodiments of the invention to shoot footage forfilm and television productions as well as, sporting events, or anyother activity that benefits from fluid movement of a camera or otherobject to any position within a defined volume of space.

To accomplish such positioning, embodiments of the invention areconfigured to move an object throughout three-dimensional space byrelocating one or more lines that are feed through a plurality of sidesof the object. These line(s) (e.g., a cable, rope, string, cord, wire,or any other flexible connective material) which support the objectwithin a volume of space are arranged in way that allows the object tobe rapidly moved to and from any location within the defined volume ofspace. For instance, the system may be arranged to performthree-dimensional movement using one line configured as an endless loop,one line configured as a half loop, two lines configured as endlessloops or two lines configured as half loops.

The exact arrangement of the line(s) depends upon which embodiment ofthe invention is implemented. However, in each instance a set of one ormore lines suspend an object by passing through a set of line supportelements (e.g., one or more pulleys, sheaves, or any other supportassembly configured to redirect line) and around a motorized push-pullwheel. The line support elements can comprise free wheeling elements ormay be controlled elements, for example providing emergency brakecomponents for automatically halting line travel in the event of a linebreak, or components to monitor or control vibrations. The motorizedpush-pull wheel is configured to relocate line to move the object andmaintain suspension of the object in a given position. The line is movedvia the push-pull wheel in way that enables movement of the objectthrough the transferal of line between a plurality of sides of theobject. The line is reeved in such a manner as to provide threejunctions (for example in one embodiment two push-pull wheels and onewinch) where the line can be subjected to force thereby moving an objectin three dimensions. Movement in each of the three dimensions aresubstantially independent, with the X line allowing X-axis motion of thesupported object and the Y line allowing Y-axis motion of the platform.In one embodiment of the invention X line and Y line may be joined toform sides of the same contiguous line. The X and Y axes are notrequired to orthogonally intersect. Displacing equal lengths of the Xand Y line via a junction (for example a winch, push-pull wheel,hydraulic device, screw device or other mechanism for displacing orrelocating line) allows the Z-axis of the platform to be traversed. TheZ axis is not required to project orthogonally from the plane created bythe intersection X and Y axes and all support areas are not required tolie in the same plane.

The system can be scaled to any size by employing longer lines andmoving the supports. The supports themselves may be dynamicallyrepositioned as well. Embodiments may be configured in scalene triangleor convex or concave quadrilateral arrangements where no two sides arerequired to have the same length nor equal distances or heights betweenany two supports. This holds for single line or two line embodiments ofthe invention or any variation of these embodiments. For simplicity ofdescription of three-dimensional movement, the separate axes that asupported object may be moved are termed the X-axis, Y-axis and Z-axiswherein each of these axes are not required to project orthogonally froma plane formed by the other two axes.

In an embodiment of the invention configured for example in arectangular configuration with four regions having any appropriatenumber of line support elements, the supported object is moved along theX-axis independently of movement along the Y-axis and therefore requiresno complex control system. In this example, the Z-axis movement followsan ellipsoidal path (four foci ellipsoidal where the foci are thesupports) that can be as flat or circular as desired depending on theshape of the area of coverage desired. In the case of an area ofcoverage over a physical potential well, for example a stadium or openpit mine that is deeper in the middle than on the sides, the X-axis andY-axis motion can be configured with more or less line in the system tocreate a flatter or rounder elliptical shape in order to avoid thesurface below since the Z-axis automatically traverses vertically whenthe object moves towards the sides of the area of coverage of theinvention. The ellipsoidal path can be as flat or circular as desireddepending upon the amount of line deployed in the system and therelative height of the supports. Displacing equal lengths of line into aplurality of sides of the supported object allows the Z-axis of theplatform to be traversed which results in trivial control of the object.This technique of relocating line without the need for a control systemin order to move an object in three dimensions provides many advantagesover the prior art that requires complex control software and activestabilization.

Embodiments of the invention can also use a three support triangularconfiguration where no two sides are required to be the same length. Forany topology that embodiments of the invention are configured, there isno ratcheting movement at the object since the same line supports anobject on a plurality of sides with the object freely moving to thepoint of minimal potential energy based on the amount of linetransferred from one side to another side of the supported object. Inaddition, the lengths of the line do not require adjustment in way thatrequires complex calculations and computer control since the junctionseffecting movement of each axis are independently operated.

In an embodiment of the invention line may be relocated from one areacomprising X, Y and Z motors, and therefore distantly located motors andelectrical cables are not required although they may be utilized ifdesired. Other advantages of embodiments of the invention utilizingcollocated motors and junctions for relocating line include allowingmotors to be large, power cables to be short and located near a largegenerator and maintenance to be performed in one location. The linesupport elements (e.g., pulleys, sheaves, or any other mechanism thatcan redirect line) employed in the system may contain high speedbearings and may be configured to capture the line in order to preventderailing thereby providing an added degree of safety to the system. Thepush-pull wheels may optionally comprise grooves that grip the line inorder to prevent slippage. Any mechanism for driving or displacing linemay be substituted for the push-pull wheels. Embodiments of theinvention can utilize a push-pull wheel, reel or any mechanism foreffecting movement of line to multiply Z-axis travel. The location ofthe various components in the system may be altered includingmodifications to the reeving while keeping with the spirit of theinvention.

The supported object may comprise many types of useful devices, and theobject may then be further attached to a platform that may comprisepassive or active stabilization. For instance, the terms object mayrefer, but is not limited to, a camera, mechanical claw, hoist orloader, mining scoop or any other equipment where three-dimensionalmovement may be desired. It is also possible to use embodiments of theinvention to effectuate three-dimensional movement of one or morepersons. The word platform as used herein refers to any vehicle to whichan object may be coupled for the purposes of movement through threedimensional space in any environment subject to a force, for example theforce of gravity. For example, the platform itself could be supportedand moved through the air or water with supports in the air or water solong as the platform is forced away from the supports. In one or moreembodiments of the invention there may be more than one force at work onthe platform, for example buoyancy and gravity. The platform maycomprise an element that allows for the application of a directionalforce. The element could be a balloon, a sail, a counterweight, abuoyant counterweight, a ferromagnetic material, or any other elementthat would allow the platform or object being moved to become thesubject of the directional force. The net force may provide a basis tomove the platform in any direction, for example but not limited to thepositive or negative direction with respect to the Z-axis, e.g., theforce provided by wind. The Z-axis is not necessarily orthogonal to theface of the earth. The force could be magnetic or inertial for spacebased embodiments, or gravity for example, or the result of activationof a propeller, a thruster, positive buoyancy either under water or inthe air via an element less dense than water or air respectively, suchas a balloon, or any other means by which the platform is forced awayfrom the associated supports. The supports in some embodiments may atground or seabed level and have positive, negative or zero height. Thesupported object may utilize an electrical or fiber optic cablefestooned to a support along at least one line or may travel to a nonsupport area and may be used for the transmission of video images orother data from the supported object to the ground or data may betransmitted from the platform via wireless technologies. Alternativelythe platform may send and receive video or image data via a wirelessconnection such as a microwave or any other suitable transport protocol.

The platform may comprise a structure which has a center of gravity wellbelow the region where the lines pass through or couple with theplatform. Movement of the platform is so stable that passivestabilization may be utilized in bottom heavy embodiments. Alternativelythe lines may couple with the platform at approximately the center ofgravity of the supported object. (Objects with center of mass above theplatform may be used with active control analogously to balancing abroom in one's hand.) Objects may include, but are not limited todevices that require external power or devices that possess their ownpower and are operated via wireless signals. Supported objects that maybe moved comprise any camera system including but not limited to camerasystems with vertical spars such as those found in Austrian Patent150,740 with or without the combination of two-axis active stabilizersas found in U.S. Pat. No. 2,446,096, U.S. Pat. No. 1,634,950, U.S. Pat.No. 2,523,267 (also comprises a three axis active embodiment), U.S. Pat.No. 1,731,776 and Great Britain Patent 516,185 all of which provideactive control in the two horizontal axes in order to maintain a camerasupport in a vertical position. The camera system of U.S. Pat. No.4,625,938 which comprises a vertical spar and a means for stabilizingthe spar may be supported and moved via using embodiments of theinvention rather than the support technique described in the '938patent. Helicopter or airplane mounted cameras such as U.S. Pat. No.3,638,502 may be supported and moved in embodiments of the inventionutilizing passive or active stabilization whether mounted at the centerof gravity or not, which is not possible using prior art techniquessince embodiments of the present invention move objects in a more stablemanner.

The term stabilization as used herein comprises any mechanism forstabilizing an object about its axes. Passive stabilization may utilizestruts or damping agents that limit the pendulum motion of a suspendedobject. Active stabilization utilizes sensors to provide feedback to apowered axis in order to controllably stabilize an axis in a givendirection, velocity, acceleration, jerk or any other derivative of spaceover time.

The term line as used herein refers to a continuous and unbroken lengthof line that can bend and be directed through any number of passive orpowered or active line support elements or any other redirectionmechanism. In one embodiment of the invention line breakage causescomponents associated with the line to become non-functional. To avoidthis issue and thereby enhance system safety, the invention contemplatesthe use of a limiting mechanism to keep a supported object from makingcontact with the area of coverage. By supporting an object on aplurality of sides with a single line, there is a built in safetycharacteristic not found in the prior art whereby one line may breakwithout causing the supported object to contact the ground below. Forexample, if an object is supported on four sides, with one line reevedand coupled with two of the four opposing sides, and the other line (orline side in a one line embodiment) coupled with the other two of thefour opposing sides whether ninety degrees apart or not with respect tothe first line, then breakage of one line (or line side wherein theother line side is coupled for example on a winch whereby half of theline breaking does not release tension in the other half), does notallow for the platform to contact the ground below. In buoyantembodiments, a break in a line does not allow the platform to escapevertically to the sea surface or in a balloon embodiment to float awayor damage a stadium ceiling for example. Zero-G environments withmagnetic direction force elements would not escape into space forexample if one line were to break.

A drum winch is a device that operates on a last-in-first-out basis forstoring line and controlling the length of deployed line that is coupledwith the drum. Thus a drum winch operates in much the same way that areel (e.g., a fishing reel) does. A push-pull wheel works in acompletely different way from a drum winch and is functionally amotorized pulley that operates on a first-in-first-out basis forrelocating line without storing the line for later extension. Thepush-pull wheel does not change the amount of line deployed, but ratherrelocates line from the intake side to the outlet side of the device.

The word motor as used herein refers to a motor which may comprise adrive pulley or drum winch or any other device that can relocate line orcable. This definition is provided for purposes of ease of illustrationsince a motor must drive some type of device to relocate line. Inaddition, in certain embodiments motors may be substituted withhydraulics, electric actuators or any other method of moving line andkeeping within the scope and spirit of the invention.

Some examples of the type of line embodiments of the invention that maybe utilized include synthetic rope fibers such as but not limited toHMDPE (High Molecular Density Polyethylene) fibers such as Spectra, orimproved fibers such as Vectran. Line of this length, strength andweight allows the platform to be deployed over large distances.Synthetic line is 90 percent as strong as metal cable while having 10percent of the weight.

Embodiments of the invention may be nested in order to support and movemultiple independent or dependent objects. Dependent objects may forexample comprise a pole coupled with a plurality of reevings that maykeep a pole aligned vertically or may be moved independently in order toangle the pole with respect to any axis. Rigid couplings with a fixeddistance between a plurality of reevings coupled to the pole may beutilized or non-rigid dependent couplings may also be utilized includingtelescoping poles or elastic bands for example. A plurality of linesirrespective of reeving may be coupled with a pole in order to provide aplatform for a microphone for example.

Independent objects may moved independent of one another and may alsofor example be controlled by one computer in order to avoid collisionsbetween the independent objects. Collision sensors may be coupled withany element in the system in order to provide for collision avoidancewith another object suspended and moved by another reeving instance, orwith a stationary or moving object not associated with an embodiment ofan invention as long as the position of the object is known to thesystem. Acoustic, optical or radar sensors, i.e., collision sensors, maybe coupled anywhere within the system in order to reposition thesupported object and/or line(s) in order to avoid a collision with asoccer ball, baseball, football or other sporting implement such as ajavelin, hammer, shot put, or any other object that is capable of beingdetected. In pre-planned movements involving simulation, collisiondetection may be utilized in order to avoid a collision with an objectthat is sensed during actual movement of the physical embodimentfollowed by either exiting the pre-planned flight path or returning tothe pre-planned flight path after avoidance.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of the overall system.

FIG. 1A is a perspective view of the overall system without line travelbetween supports.

FIG. 1B is a perspective view of the overall system without line travelbetween supports showing a buoyant aerial or buoyant aquatic embodiment.

FIG. 1C is a perspective view of a nested embodiment showing twoindependent systems.

FIG. 1D is a perspective view of a nested embodiment with an articulatedarm or boom platform.

FIG. 1E is a perspective view of a nested embodiment employing a pair ofnon-buoyant embodiments and a buoyant embodiment.

FIG. 1F is a perspective view of a recursively nested embodiment showinga rectangular embodiment supporting a triangular independent embodiment.

FIG. 1G is a perspective view of a nested dependent embodiment with arod coupling each platform.

FIG. 1H is a perspective view of a nested dependent embodimentsupporting an articulated arm or boom platform.

FIG. 1I is a perspective view of a nested dependent embodiment showingthe ability to rotate the rod out of the vertical.

FIG. 1J is a perspective view of a nested dependent embodiment with apassively or actively stabilized platform enabling level support andmovement of the platform.

FIG. 1K is a perspective view of a nested dependent embodiment showing atelescoping rod and rotational capabilities of the rod and/or platform.

FIG. 1L is a perspective view of a nested dependent embodiment showingdependence of lines in Z movement device allowing for one line totalconfigured to support and move the platform.

FIG. 1M is a perspective view of a nested dependent embodiment showingdependence of X line side and Y line side with respective bull wheelsthereby configured to always align the rod with the vertical independentof position and with use of a minimum of one line total in the system.

FIG. 1N is a perspective view of a nested dependent embodimentcomprising a Y reeving nested above an X reeving with a passively oractively stabilized platform enabling level support and movement of theplatform.

FIG. 2 is a perspective view of the X-axis reeving.

FIG. 3 is a perspective view of the Y-axis reeving.

FIG. 4 is a top view of a rectangular embodiment of the system.

FIG. 5 is a top view of a quadrilateral embodiment of the system whereno two sides are required to have the same length.

FIG. 6 is a perspective view of an embodiment of the platform.

FIG. 7 is a perspective view of an embodiment of the platform.

FIG. 8 is a perspective view of an embodiment of the platform utilizinga passive or active stabilized platform.

FIG. 8A is a perspective view of an embodiment of the platform utilizinga passive or active stabilized platform and counterweight.

FIG. 9 is a top view of a scalene triangular embodiment of the systemwhere no two sides are required to have the same length.

FIG. 10 is a close up view of the reeving comprising line supportelements.

FIG. 11 is a perspective view of an embodiment of the platformcomprising two line support elements per side.

FIG. 12 shows reeving of a single line embodiment.

FIG. 13 is a perspective view of a nested dependent embodimentcomprising a nested dependent embodiment utilizing a tag line.

FIG. 14 shows a logical reeving diagram.

FIG. 14A shows a logical reeving diagram without line travel betweensupports employing two lines.

FIG. 14B shows a logical reeving diagram without line travel betweensupports employing one line total.

FIG. 14C shows a logical reeving diagram without line travel betweensupports employing two lines wherein both lines terminate withoutreturning to the Z movement device.

FIG. 14D shows a logical reeving diagram without line travel betweensupports employing two lines with an alternate reeving in relation toFIG. 14A.

FIG. 14E shows a logical reeving diagram without line travel betweensupports employing one line total with an alternate reeving in relationto FIG. 14B.

FIG. 14F shows a logical reeving diagram without line travel betweensupports employing two lines in a triangular embodiment.

FIGS. 15A-D show two line embodiments at an embodiment of the Z movementdevice.

FIGS. 16A and 16B show one line embodiments at an embodiment of the Zmovement device.

FIG. 17 shows a side view of one embodiment of the Z movement devicehaving at least one eyelet.

FIGS. 18A and 18B show an embodiment of the Z movement device employinga block and tackle for multiplication of the Z-axis traversal of thesupported object.

FIG. 19A shows reeving at the Z movement device for a dependent nestedembodiment employing two lines in the system, one line for the upperembodiment and one for the lower embodiment, wherein each line is forinto a half-loop thereby yielding two pairs of line ends coupled to theZ movement device.

FIG. 19B shows reeving at the Z movement device for a dependent nestedembodiment employing two lines in the system, each line formed into acontinuous loop.

FIG. 19C shows reeving at the Z movement device for a dependent nestedembodiment employing two lines in the system, one line forming a halfloop with two line ends, and the other forming a continuous loop with noline ends.

FIG. 20A shows reeving at the Z movement device for a dependent nestedembodiment employing one total line in the system formed into a halfloop with two line ends.

FIG. 20B shows reeving at the Z movement device for a dependent nestedembodiment employing one total line in the system formed into acontinuous loop having no ends.

DETAILED DESCRIPTION OF THE INVENTION

Embodiments of the invention are ideally suited for moving objectsthrough three-dimensional space using one to more lines. Variousembodiments of the invention are capable of positioning an object suchas a human, animal, mining implement, logging implement, manufacturedobject or any other useful object. Embodiments of the invention may, forexample, be used in filming movies, sporting events, or any otheractivity that benefits from fluid movement of a camera or other objectto any position within a defined volume of space.

In the following description, numerous specific details are set forth toprovide a more thorough description of embodiments of the invention. Itwill be apparent, however, to one skilled in the art, that the inventionmay be practiced without these specific details. In other instances,well known features have not been described in detail so as not toobscure the invention. However, in each instance the claims and the fullscope of any equivalents are what define the metes and bounds of theinvention.

Embodiments of the invention move an object throughout three-dimensionalspace by relocating line coupled with a plurality of sides of theobject. In an embodiment utilizing two lines, once the displacementheight of the platform is set to a minimum value for a coverage area, ifone line breaks, the supported platform maintains its elevation over theground via the unbroken line and travels to the middle of the brokenline axis. The lowest the platform can descend is to the preset minimumvalue since opposing sides of the platform are still coupled with theremaining unbroken line. In buoyant embodiments such as air or sea basedembodiments where the platform is generally above the supports, thehighest the platform can ascend is to the preset maximum value sinceopposing sides of the platform are still coupled with the remainingunbroken line.

Embodiments of the invention may comprise one line configured as anendless loop, one line configured as a half loop, two lines configuredas endless loops or two lines configured as half loops. Each of theseembodiments comprise two line sides designated the X line side and the Yline side, and may be termed the X line and Y line for short. In theembodiment comprising one line configured as an endless loop,approximately half of the loop is configured to effect movement of the Xaxis while the remaining line is configured to control the Y axis. Theaxes are for descriptive purposes and do not limit embodiments toorthogonal configurations. In the embodiment comprising one lineconfigured as a half loop, approximately half of the loop is termed theX line side while the remaining line is termed the Y line side, althoughthey may be called the X line and Y line for short. In the embodimentcomprising two lines configured as endless loops, one line is termed theX line side and the other line is termed the Y line side. In theembodiment comprising two lines configured as half loops, one line istermed the X line side and the other line is termed the Y line side,again X line side and Y line side may be termed the X line and Y linefor short. FIGS. 15A-D show two line embodiments while FIGS. 16A, B showone line embodiments and will be explained in detail below. More linesmay be utilized to support an object for extra safety but are notrequired and may pair up with the existing lines, or may use separatesupports of unequal numbers with regards to the primary supports, andwhich may be separated from the primary supports by any distance orheight.

Regardless of the embodiment, line is reeved in such a manner as toprovide three junctions where the line can be subjected to force therebymoving an object in three dimensions that are substantially independent.Relocation of line on the X line side moves the object independent ofthe Y axis, while relocation of Y line side moves the object independentof the X axis. The X and Y axes are not required to orthogonallyintersect. Displacing equal lengths of the line allows the Z-axis of theplatform to be traversed. The Z axis is not required to projectorthogonally from the plane created by the intersection X and Y axes.

FIG. 1 shows a perspective view of an embodiment of the system. Thethree axes are shown in the figure with the X-axis shown left to right,the Y-axis shown into the page and the Z-axis shown bottom to top of thepage. The X-axis, Y-axis and Z-axis are not required to orthogonallyproject from the plane formed by the intersection of other two axes(meaning that each of the axes may project at angles other than 90degrees with respect to the plane formed by the other two axes). In thisconfiguration, support structures 110, 112, 114 and 116 surround theareas within which platform 124 is to move and separate platform 124from the ground. Support structures may include passive or active linesupport elements and can comprise any structure that allows these linesupport elements to be distantly located to define an area of space. Forinstance, any structure that allows line to be redirected can serve as asupport structure. A few examples of such structures include, but arenot limited to buildings, trees, canyons, or any other structure with aheight differential above the ground to which line support elements maybe placed. Other examples comprise ground mounted supports which mayhave zero or negative height with respect to the volume in which theplatform is to travel in, which may be used in embodiments employingbuoyant platforms. Each of the support structures or support points maybe at the same vertical height or may comprise different heights.

Platform 124 provides a mobile support for any object or piece ofequipment that would benefit from having the ability to move inthree-dimensions. For example, platform 124 may comprise a structurewhich has a center of gravity well below the region where the lines passthrough, about or couple with the platform. Alternatively the lines maycouple with the platform at approximately the center of gravity of thesupported object. Objects may include, but are not limited to devicesthat require external power or devices that possess their own power andare operated via wireless signals. Supported objects that may be movedcomprise any camera system and include, but are not limited to, camerasystems with vertical spars such as those found in Austrian Patent No.150,740 with or without the combination of two-axis active stabilizersas found in U.S. Pat. No. 2,446,096, U.S. Pat. No. 1,634,950, U.S. Pat.No. 2,523,267 (also comprises a three axis active embodiment), U.S. Pat.No. 1,731,776 and Great Britain Patent No. 516,185 all of which provideactive control in the two horizontal axes in order to maintain a camerasupport such as '740 in a vertical position. The camera system of U.S.Pat. No. 4,625,938 which comprises a vertical spar and a stabilizer maybe supported and moved using embodiments of the invention rather thanthe cable support mechanism described in the '938 patent. Helicopter orairplane mounted cameras such as U.S. Pat. No. 3,638,502 may besupported and moved in embodiments of the invention utilizing passive oractive stabilization whether mounted at the center of gravity or not,which is not possible using prior art techniques since embodiments ofthe present invention move objects in a more stable manner.

Platform 124 is supported and is moved in three dimensions by one or twolines depending upon the embodiment of the invention utilized. Each lineis reeved to form a pair of “V” shapes when platform 124 is centeredwithin the system and when viewed from above with the points of the “V”nearest platform 124. In embodiments utilizing two rope sides to supportthe platform, the total amount of each of the rope line sides has thesame length as measured from supports 110, 112, 114 and 116 to platform124. This result is independent of the topology used, i.e., independentof the number of supports and allows for trivial Z-axis displacement. Bydisplacing the line (either one or two lines depending upon theembodiment) from the system via Z movement device 104, platform 124 israised. Conversely, by deploying the two line sides, platform 124 islowered. In FIG. 1, the line on the right side of X-axis motor 103 isdesignated 18 a while the line on the left side of X-axis motor 103(e.g., an X push-pull wheel) is designated 18 b. Sides 18 a and 18 b aredifferent sides of the same continuous line where the designationchanges at the motor for description purposes only. The line on theright side of Y-axis motor 102 (e.g., a Y push-pull wheel) is designated19 a while the line on the left side of Y-axis motor 102 is designated19 b. Sides 19 a and 19 b are different sides of the same line where thedesignation changes at the motor. Therefore, line designations beginningwith 18 signify the X line and line designations beginning with 19signify Y line. Depending upon the embodiment of the inventionimplemented there is a total of one or two lines. Control of X, Y andZ-axis motors can be in the form of simple switches, potentiometers, ora computer system that takes into account the position of the platformin order to adjust Z-axis traversal to keep platform 124 at the same Zposition while traversing the X and/or Y axis, although this is notrequired but may be utilized for repeatability of movement sequences orany other purpose. Z-axis motor 101 and/or Z movement device 104 can bereplaced by a screw or hydraulic device or any other actuator or devicecapable displacing line.

In a two line embodiment employing two half loops of line, Z movementdevice 104 may be coupled with opposing ends of X line, side 18 a andside 18 b and opposing ends of Y line, side 19 a and side 19 b. In a twoline embodiment employing two endless loops, the X line for example canbe hooked into an eyelet of a winch or coupled with a non-rotatingpulley that may be displaced vertically without a winch (hydraulics orscrew for example) in order to displace X line in the system in order toadjust the vertical placement of platform 124. This means that not onlyis there a two line embodiment comprising two half loops each with apair of ends, but there is a two line embodiment where each line is inan endless loop with no ends. Although both lines may be formed intohalf loops, one or the other line may be formed into a half loop whilethe other line is formed into an endless loop. For example the X linecould be an endless loop coupled with Z movement device 104 with a wincheyelet while the Y line could be a half loop with both ends coupled witha different portion of the winch. These embodiments are shown in FIGS.15A-D.

Regardless of the number of line ends (zero or two) for each line in thetwo line embodiment, line support element 120 is coupled with Y lineside 19 a. These line support elements may be passive (e.g., pulleys orsheaves), however if control software is utilized to coordinate movementmay also be active (e.g., motorized push-pull wheels or pulleys). Activecomponents may be utilized to further stabilize platform 124 duringmovement or acceleration. Line support element 122 is coupled with Yline side 19 b. Line support element 121 is coupled with X line side 18a and line support element 123 is coupled with X line side 18 b. Byrotating X-axis motor 103 clockwise in the figure, thereby decreasingthe amount of line on X line side 18 a, which increases the amount ofline on X movement side 18 b, the platform moves in the positive Xdirection, to the right in the figure. By rotating Y-axis motor 102clockwise in the figure, thereby decreasing the amount of line on Y lineside 19 a, which increases the amount of line on Y movement side 19 b,the platform moves in the positive Y direction, into the figure. Linesupport elements 120, 121, 122 and 123 may freely rotate or may compriseactive components to further aid in stabilizing platform 124.

FIG. 10 shows an embodiment of the reeving in support structure 110 andline support assembly 105 detailed with each line redirected throughtherein. As this is a logical pattern for purposes of illustration, oneskilled in the art will recognize that the various line support elementsmay be rearranged and realigned to minimize the space taken up by linesupport assembly 105 and line may be redirected to alternate supports inother embodiments of the invention. FIG. 10 shows one possibleembodiment with screw 1000 driving Z movement device 104 upward anddownward in order to displace line into and out of the system. Any typeof device capable of displacing line may be used in place of Z movementdevice 104.

Generator and electronic drive units 100 may be utilized to power Z-axismotor 101 and or Z movement device 104, X-axis motor 103 and Y-axismotor 102. Any other source of power may be used for the motors. Z-axismotor 101 may drive Z movement device 104 configured as a drum winchwith separate areas for holding line sides. Z movement device 104displaces line into and out of the system. For ease of illustration,other possible Z movement device 104 embodiments are not shown, such asbut not limited to electronic actuator components. X-axis motor 103 andY-axis motor 102 drive bull wheels, push-pull wheels or powered pulleys,and are also not shown for ease of illustration. Push-pull wheels moveline in a first-in-first-out manner without engaging a line end and actto transfer line without storing line while drum winches move line in alast-in-first-out manner and store line that is later reeled back out.Push-pull wheels (e.g., drive pulleys) and drum winches that minimizeline wear and provide anti-derailing features may be employed to drivethe line in the system.

An embodiment of the invention can run fiber optics cables or powercables along X line side 18 b or Y line side 19 a from support structure110 to platform 124. Support structures 112, 114 and 116 canalternatively supply power to the platform via identical means. Platform124 may alternatively house devices with collocated power suppliesnegating the need for external power cables. Devices attached toplatform 124 may include wireless or other remote controlled devices andmay comprise their own active or passive stabilization. Lines comprisingelectrical transmission characteristics may loop many times through aline support element 120 in order to inductively transfer power toplatform 124 with the number of coils about line support element 120 andthe number of coils on platform 124 effectively forming a transformerwith the ratio of coils determining the reduction or increase ofvoltage.

FIG. 1A is a perspective view of the overall system without line travelbetween supports. By redirecting line that could optionally travelbetween supports such as 112 and 110 through redirection sheaves couplednear platform 124, it is possible for embodiments of the invention toeliminate the need for line to travel between supports. Redirectionsheave assemblies 117, 118 and 119 are shown spaced apart from platform124 for ease of viewing. It is feasible to modify the reeving using anynumber of redirects or other mechanisms and stay within the scope andspirit of the invention. For example, outermost sheave at redirectionsheave assembly 119 could be eliminated and moved to the opposing sideof platform 124 if line 19 b was redirected via platform 116 to platform114 instead of via platform 112 to 114. This would give rise to sheaveassemblies comprising 3, 2, 2, and 1 redirection sheaves for redirectionsheave assemblies 119, 118, 117 and a new sheave assembly near sheave122 (not shown for brevity). FIGS. 14D and 14E describe otherembodiments with fewer sheaves in the sheave assemblies. FIG. 14D showstravel of line between diagonally opposed supports via sheaves 143 and144 that allow travel of the line between the support in the lower leftof the figure housing Z movement device 104 and the upper right supportin the figure. This would equate in FIG. 1 to reeving line directlybetween supports 110 and 114 above the platform, namely lines 18 a and19 b. This is not shown for brevity.

FIG. 1B illustrates a buoyant embodiment with counterweight 804 realizedas a balloon. Rod 800 is shown elongated and not to scale for ease ofillustration. A buoyant embodiment may be converted to a non-buoyantembodiment by allowing the gas from the balloon to escape (or air to bereplaced by water in an aquatic embodiment). Conversion from anon-buoyant embodiment to a buoyant embodiment could occur by filling aballoon with gas for example. An embodiment may be converted from anaerial embodiment to an aquatic embodiment by lowering the platform intothe water and then converted, for example, into a buoyant embodiment byfilling counterweight 804 with air and lowering any associated supports.Conversion between aerial and aquatic and buoyant and non-buoyantembodiments may be performed at any time or simultaneously. Thedescription of the movement of line through the system as per FIG. 1 iscomplemented with the additional movement of line through theredirection sheave assemblies.

FIG. 2 shows an embodiment of the X-axis reeving. X movement in thepositive X direction, to the right in the figure, is accomplished byrotating X-axis motor 103 clockwise in the diagram. As X-axis motor 103rotates clockwise, line 18 a moves down support structure 110 from linesupport assembly 105 from support structure 112 and hence out of linesupport element 121. Both lines shown between support structures 110 and112 are designated 18 a, and they are indeed the same line, although thetop line only moves during Z-axis traversal. As the line leaves linesupport element 121 to support structure 112, it pulls platform 124 tothe right in the positive X-axis direction. At the same time, X lineside 18 b flows upward from X-axis motor 103 to line support assembly105 to support structure 116 and into line support element 123. Sincethe length of X line side 18 a on the right side of platform 124 isdecreasing in length while the length of X line side 18 b on the leftside of platform 124 is increasing, the platform moves to the right, inthe positive X-axis direction. The converse applies for motion in thenegative X-axis direction by rotation X-axis motor 103 in the otherdirection. Modifications to the reeving in the system may be made suchas switching the origination points of line side 18 b heading into linesupport element 123 from support 110 to 116 and visa versa. Othermodifications can be made to the reeving while keeping with the spiritof the invention. This includes eliminating line travel between supportsby terminating the line on the support 114, and by running line fromsupports 112 and 116 through redirecting pulleys coupled with platform124. The total amount of line 18 in the system does not change in orderto move platform 124 in the X-axis, it is merely transferred from oneside of platform 124 to the other side of platform 124.

Rotating Z-axis motor 101 in one direction rotates screw device 1000which raises Z movement device 104, which increases the length ofdeployed line in X line sides 18 a and 18 b. This lowers the platform inthe Z-axis direction. As Z movement device 104 rises, X line side 18 amoves upward into line support assembly 105 to support structure 112, tosupport structure 114 and into line support element 121. At the sametime, X line side 18 b, also attached to Z movement device 104 movesupward into line support assembly 105 and into line support element 123.Since both sides of platform 124 have increased line length, theplatform lowers. Conversely, rotating Z-axis motor 101 in the otherdirection raises platform 124.

Note that Z movement device 104 can comprise a sequence of pulleys formultiplying the Z-axis traversal (see FIG. 18), and may also utilize ablock or other device for disabling travel in case of line breakage inor around Z movement device 104. By placing a backup means of limitingthe upward travel of Z movement device 104 the platform can beconfigured to never reach the ground beneath it even if a failurebeneath Z movement device were to occur.

FIG. 3 shows an embodiment of the Y-axis reeving. Y movement in thepositive Y direction, into the figure, is accomplished by rotatingY-axis motor 102 clockwise in the diagram. As Y-axis motor 102 rotatesclockwise, line 19 a moves down support structure 110 from line supportassembly 105 and out of line support element 120. As the line leavesline support element 120 to support structure 110, it pulls platform 124into the figure, in the positive Y-axis direction. At the same time, Yline side 19 b flows upward from Y-axis motor 102 to line supportassembly 105 to support structure 116 and into line support element 122.Since the length of Y line side 19 a on the top side of platform 124 isdecreasing in length while the length of Y line side 19 b on the bottomside of platform 124 is increasing, the platform moves into the figure,in the positive Y-axis direction. Note that the Y line sides 19 a and 19b between support structures 110 and 112 only move during Z-axistraversal. This is also true of line 19 b between support structures 112and 114. The total amount of line 19 in the system does not change inorder to move platform 124 in the Y-axis, it is merely transferred fromone side of platform 124 to the other side of platform 124.

Rotating Z-axis motor 101 in one direction increases the length ofdeployed line in Y line sides 19 a and 19 b. This lowers the platform inthe Z-axis direction. As Z movement device 104 (shown in FIG. 3 as adrum winch) rotates, Y line side 19 a and 19 b moves upward into linesupport assembly 105. Both line sides travel to support structure 112. Ymovement side 19 a travels into line support element 120, and 19 btravels to support structure 114 and into line support element 122.Since both sides of platform 124 have increased line length, theplatform lowers. Conversely, activating Z-movement device to displace Yline 19 (both sides) in the opposite direction causes the platform torise. One skilled in the art will recognize that line 19 b may be reevedto bypass support 112 and may travel directly from support 110 tosupport 114 or may be reeved through support 116 instead of 112 beforetraveling to support 114.

Referring to FIG. 1, since all of the line supporting platform 124 fromline sides 18 a and 18 b travels directly next to line sides 19 a and 19b from each support, e.g., since each support has a length of line 18and 19 traveling to platform 124, the total amount of line deployed fromthe supports of line 18 is equal to the total amount of line deployedfrom the supports of line 19 to the platform no matter where platform124 is. This allows for trivial control of Z-axis displacement since allof the line may be moved in the same amount to effect Z-axisdisplacement. This is not possible with one cable per support pulley permotor per winch systems since all of the line lengths change unequallydepending on where the supported object is.

A one line embodiment of the invention is formed by connecting one endof the X line to one end of the Y line, thereby yielding one line withtwo ends total. Another embodiment of the invention is created byconnected the remaining two ends of line, i.e., the other end of X lineto the other remaining end of Y line in order to form a single endlessloop of line. See FIGS. 16A and 16B. Z-movement device 104 then maycomprise two non-rotating line support elements that are moved to oraway from line support assembly 105 in order to control the Z-axisdisplacement of the system. The one line embodiment is therefore formedfrom the two lines by connecting the two lines together to form a singlestrand of line and either closing the loop or leaving two ends un-joined(zero or two line ends total). Following the single length of linethrough the system shows that indeed three-dimensions of travel can beasserted on an object with one single continuous piece of line with zeroor two total ends. The single line may have four knots tied somewherealong the stretch from Z movement device 104 to line support element 105that limit the travel of line in case of a break, any other technique oflimiting the line travel for a single break may also be used includingbrake systems in at least one support structure or on line supportelements coupled with platform 124.

FIG. 12 shows an embodiment of Z movement device 104 for exampleconfigured to use a hydraulic device with two non-rotating line supportelements connected to the top of Z movement device 104. As Z movementdevice 104 extends or contracts vertically in the Figure, more or lessline is deployed or displaced that supports platform 124. As all line inthe embodiment is one piece of continuous line that has no ends, it isdesignated line 20, however, line 20 comprises X line side 18 and Y lineside 19 where the designation changes at the Z movement device with Xline side 18 designated as line 20 between Z movement device 104 that iscoupled with X-axis motor 103 and with Y line side 19 designated as line20 between Z movement device 104 that is coupled with Y-axis motor 102.Z movement motor 101 in this embodiment comprises a hydraulic system.Another embodiment of Z movement device 104 may be a screw or electronicactuator or any other device that could possibly move the two linesupport elements associated with the device through a distance. Oneskilled in the art would recognize that reeving in several more linesupport elements to form a block and tackle between Z movement device104 and line support element 105 in order to make a Z multiplicationfactor is readily possible as per FIGS. 18A and 18B. Another embodimentof the invention whereby only one line support element is used on Zmovement device 104 exists where two of the line ends of line 20 arecoupled with Z movement device 104 and where the single line supportelement is the designated dividing point for X line side 18 and Y lineside 19 as per FIG. 16A. Coupling two line ends to Z movement devicealong with a pulley allows for a single half loop of line 20 with twoline ends to move platform 124 in three-dimensional space. Coupling theremaining two ends to form one endless loop of rope is shown in FIG.16B. The eyelets of Z movement device 104 shown in FIG. 17 may allowfree travel of line 20 through each eyelet until Z movement device 104is rotated until travel through the eyelets is not possible. This allowsthe X and Y axis push-pull wheels to have immobile junctions in which topull against so that line does not freely travel through the entiresystem. As the hydraulic device of Z movement device 104 may be replacedby a single winch with eyelets or separate areas for X line side 18 andY line side 19 of line 20, it should be clear to one skilled in the artthat a hydraulic device is not required to practice the invention andthat any mechanism which displace Z movement device 104 may besubstituted.

As shown in FIG. 12, line 20 is a single piece of line comprising X lineside 18 and Y line side 19 as per FIG. 1, which may be termed X line andY line for short since these sides of line 20 are utilized to movethrough the X axis and Y axis respectively even though they are simplydifferent sides of the same line 20. Line 20, i.e., Y line side 19 (side19 b in FIG. 1) extends from the far left side of Z movement device 104up to line support element 105 to support structure 112 to supportstructure 114 to line support element 122 to support structure 116 toline support element 105 down to Y-axis motor 102 back up to linesupport element 105 (now side 19 a in FIG. 1) to line support element120 to support structure 112 to line support assembly 105 right linesupport element on Z movement device 104 back up to line supportassembly 105 (now line 18, side 18 b in FIG. 1) to line support element123 to support structure 116 to line support assembly 105 to X-axismotor 103 back up to line support assembly 105 (now side 18 a in FIG. 1)to support structure 112 to line support element 121 to supportstructure 114 to support structure 112 to line support assembly 105 tothe left line support element on Z movement device 104, therebycompleting the single loop of line reeved through this embodiment of theinvention. For the endless loop embodiment, one or both of the two linesupport elements shown on top of Z movement device 104 may benon-rotating so that X-axis motor 103 and Y-axis motor 102 have a fixedpoint in which to pull against, otherwise platform 124 would not move asall line support elements in the system would free spin. The endlessloop of line could be cut at one of the non-rotating line supportelements with both resulting line ends attached to Z movement device 104yielding a single piece of line embodiment that is formed into a halfloop of a single line instead of an endless loop of line of a singleline, this also provides points at which to immobilize line so that thesingle line with two ends embodiment does not freely spin. See FIG. 16A.Although line 20 is one continuous piece of line it possesses X lineside 18 and Y line side 19 upon which forces may be applied in order torelocate line onto each side of platform 124 in order to move it.

FIG. 4 shows a top view of an embodiment of the system in a rectangularconfiguration. Although line support assembly 105 has been designated inthe figure, each of the support structures may have line supportassemblies of lesser complexity. Support structure 112 for example mayhave four line support elements while support structures 114 and 116 mayhave two line support elements. Each of the line support elements cancomprise any device that can guide the line into the line supportelement securely. Line support element assembly 105 for example may haveeight line support elements, four for Z-axis traversal, two for X-axismovement and two for Y-axis movement or any other number of line supportelements that allow X and Y line to move. See FIG. 10 for an exampleclose-up of support structure 110 and line support assembly 105. Theexact layout of the support elements used can be varied for spaceconsiderations or any other design requirement while keeping with thespirit of the invention. Any element capable of redirecting line may beused in place of a line support element.

FIG. 5 shows a non-rectangular embodiment of the system. In thisembodiment, if lines were drawn between the four support structures 110to 112, 112 to 114, 114 to 116 and 116 to 110, a convex quadrilateralwould result. Concave quadrilateral embodiments may be configured bymoving support structure 114 across a line drawn between supportstructure 112 and 116. Since the X-axis and Y-axis lines are equallength for each stretch between support structures, it follows that thesupport structures may be moved while maintaining full functionality ofthe system. This means that the support structures may be mobilized andphysically moved before or during operation of the system.

FIG. 9 shows a triangular shape embodiment that is constructed withthree support structures instead of four for example by eliminatingsupport structure 112 and the four line support elements in it. Thelength between support structure 110 and 116 is the shortest, the lengthbetween support structures 110 and 114 is longer and the length betweensupport structures 114 and 116 is the longest stretch. Since the threesides of the triangle are not required to be of the same length ascalene triangle is formed although isosceles and equilateral triangularembodiments may also be constructed by placing the support structures atthe required positions. Eliminating support structure 112 and the fourline support elements in it accomplished by coupling line supportassembly 105 lines to support structure 114 directly. Since the totallengths of the X and Y line are the same within the system, the same Zmovement device may be utilized to raise and lower the platform. Thatarea of coverage is a three sided triangle where no two sides arerequired to be of the same length.

FIG. 14 shows a logical diagram of a two line embodiment with slightlydifferent reeving in that there is no open side without line. Inaddition, this embodiment shows that X axis motor 103 and Y axis motor102 may be repositioned within the reeving. This figure also shows thatmodifications to the reeving are possible while keeping within the scopeand spirit of the invention. This embodiment also shows Z movementdevice 104 as a winch attached to the two sets of line ends. One line isshown in dashed lines for clarity. Movement of X axis motor 103comprising a push-pull wheel for example transfers line from the leftside of the diagram to the right side of the diagram and visa versa. Thetransfer of line does not alter the amount of line in the system. Linesupport elements 121 and 123 allow Y line to pass through as X line istransferred out of line support element 120 and into line supportelement 122 for example. This holds for independent movement of Y lineas well via Y axis motor 102 comprising a push-pull wheel for example.Since the total amount of X line and Y line remains the same as measuredfrom the supports to the supported object, X movement is independentfrom Y movement, while Z movement may be performed by a singlemechanism. Three and four support arrangements also comprise equallengths of line supporting an object where no two sides are required tobe equal length. Activation of Z movement device 104 displaces equalamounts of line via one side of each line support element 120, 121, 122and 123 and raises or lowers the platform.

FIG. 14A shows a logical reeving diagram without line travel betweensupports employing two lines. FIG. 1 shows one open side (the nearestside facing the reader) with no direct line travel between supports 114and 116, but with direct line travel between supports 110 and 116,between 110 and 112, and between 112 and 114. One skilled in the artwill recognize that the basic mechanism of transferring line from oneside of the embodiment to the other is independent of the reevingbypassing or allowing for direct travel between supports. Therefore, anycombination of direct and indirect travel of line in the system whileensuring that the total amount of X line and Y line as measured from thesupports to the platform is in keeping with the spirit of the invention.Redirection sheaves 140, 141, 142, 143, 144, 145, 146 and 147 redirectline that would have traveled between supports to locations near thesupported platform. This embodiment shows X line 18 as solid and Y line19 as dashed for ease of viewing. Movement of the suspended platform isas in the description of FIG. 14 with the additional redirection of anequal length of X line 18 and Y line 19 as totaled from the supports tothe supported platform.

FIG. 14B shows a logical reeving diagram without line travel betweensupports employing one line total. This embodiment shows that one linewith proper reeving can support and move an object from four supportpoints in three dimensions by applying for along three locations of line20.

FIG. 14C shows a logical reeving diagram without line travel betweensupports employing two lines wherein both lines terminate withoutreturning to the Z movement device. By employing a simplified reeving asshown in FIG. 14C, less line is used in the system. Since only half ofthe system is elevated or pulled down by Z movement device 104, X and Yaxes motors 103 and 102 may be adjusted in order to keep the X and Yposition of a supported object constant while adjusting the Z axisposition of the supported object whether buoyant or non-buoyant, aerialor aquatic. The lines are shown terminated as “X” marks in the upperright hand corner of FIG. 14C. The termination points may be tied tosuitable weights or anchor points or any fixed or moveable object thatcan counteract the force applied to lines 18 and 19.

FIG. 14D shows a logical reeving diagram without line travel betweensupports employing two lines with an alternate reeving in relation toFIG. 14A. This embodiment is a shorter line length embodiment that isshown in FIG. 14A in that Y line 19 does not travel completely aroundthe upper left portion of the figure but rather travels directly nearthe supported object back to Z movement device 104. Likewise, X line 18bypasses the support in the lower right portion of the figure andtravels directly from redirection sheave 144 to Z movement device 104.This embodiment provides substantially independent X, Y and Z controlwith minimal extra line compared to the embodiment depicted in FIG. 14C.In FIG. 1A, this would equate to eliminating the topmost sheave inredirection sheave assembly 119, placing the eliminated sheave on theopposing side of the platform and bypassing support 112 in the reeving.The topmost sheave in redirection assembly 117 could therefore beeliminated along with the third sheave down in redirection sheaveassembly 119 since the remaining redirection sheave in redirectionassembly 117 could be routed directly to support 110 without travelingto support 112.

FIG. 14E shows a logical reeving diagram without line travel betweensupports employing one line total with an alternate reeving in relationto FIG. 14B. This embodiment is a one line embodiment of the embodimentdepicted in FIG. 14D.

FIG. 14F shows a logical reeving diagram without line travel betweensupports employing two lines in a triangular embodiment. Operation ofthe triangular embodiment is identical as the operation of anyrectangular embodiment in terms of control inputs to X-axis motor 103,Y-axis motor 102 or Z movement device 104. The difference in triangularand rectangular embodiments is the number of support points and thevolume covered. In addition, since there is one less support, there aretwo less redirection sheaves required to take the two lines or two linesides of one line to the non-existent support.

FIGS. 15A-D show two line embodiment logical reevings that may occur atthe bottom left portion of FIG. 14 while FIGS. 16A-B show one lineembodiment logical reevings.

FIG. 15A shows an embodiment of the invention utilizing two lines 18 and19 wherein each line's ends are attached to Z movement device 104. FIG.15B shows an embodiment wherein line 18 has its ends attached to Zmovement device 104 while line 19 is configured as a loop through aneyelet. The side view of Z movement device 104 is shown in FIG. 17 witheyelet 1700 shown on the left, with axle 1701 shown in the center. FIG.15C shows line 18 configured as an endless loop with line 19 having itsends attached to Z movement device 104. FIG. 15D shows an embodimentwherein both lines 18 and 19 are configured as endless loops that loopthrough eyelet 1700 as shown in FIG. 17. FIG. 15D may be configured tolimit travel of line 18 and/or 19 through the eyelets to provide the Xand Y motors with fixed locations to pull against. If there are no fixedlocations in the system at all, the line in the system will freely spin.However, once a rotation of Z movement device 104 has occurred, whereinfor example Z movement device is configured as a winch, then of course,lines 18 and 19 would not freely spin through the eyelets once line waswound about the winch.

FIG. 16A shows an embodiment of the invention near the Z movement deviceemploying only one line configured as a half loop wherein two ends ofline 20 are attached to Z movement device and line 20 passes througheyelet 1700. FIG. 16B shows an embodiment of the invention employingline 20 as an endless loop throughout the system with line 20 passingthrough a pair of eyelets 1700 on Z movement device 104. FIG. 16B may beconfigured to limit travel of line 20 through the eyelets to provide theX and Y motors with fixed locations to pull against. If there are nofixed locations in the system at all, the line in the system will freelyspin. However, once a rotation of Z movement device 104 has occurred,wherein for example Z movement device is configured as a winch, then ofcourse, line 20 would not freely spin through the eyelets once line waswound about the winch.

Although the embodiments shown in FIGS. 15A-D and 16A-B are easilytransformed near Z movement device 104, other arrangements utilizing oneline or two lines in the system may be accomplished by separating thejunctions where force is applied to line. Additional insertion of twowheel winches that reel in one line and reel out a separate line at thesame rate can be inserted anywhere in the system in order to createembodiments employing as many lines as is possible, however, theseembodiments can be replaced by embodiments having fewer lines until onlyone or two lines are utilized in the system. Regardless of the number oflines, if the length of the two lines or two sides of one line betweenthe supports and the platform is the same, then Z movement isaccomplished with one Z movement device and X and Y movement issubstantially independent. By utilizing an embodiment where X, Y and Zforces are applied in a centralized location, maintenance is easilyperformed however embodiments of the invention relocating variouscomponents are clearly within the scope of the invention.

FIG. 18A shows an embodiment utilizing Z axis multiplication.Embodiments of the invention may utilize a block and tackle arrangementin the Z axis so that a limited amount of travel of Z movement device104 may displace a multiplied amount of line into the system. Themultiplication of Z axis travel may also be utilized for coverage areasthat are deeper than the distance from the Z movement device to thesupports, e.g., for an embodiment with 30 meter supports, a 10 factorblock and tackle can be utilized yielding 300 meters as the maximumdistance displaced in the Z-axis. For example, in FIG. 18A, with Zmovement device 104 in the lowest position as shown, approximately threetimes the amount of line exists as opposed to FIG. 18B when Z movementdevice is raised, yielding in this example a multiplication factor ofthree. Rod 1800 may be a hydraulically actuated rod in an embodiment ofthe invention, while Z movement motor 101 may drive a hydraulic pump.There is no requirement that Z movement motor must actually be anelectric motor, as any device capable of displacing line may be used inplace of an electric motor with the understanding that motor as definedherein defines any mechanism capable of displacing line.

FIG. 6 shows close up perspective of platform 124. This embodiment ofthe platform is suspended beneath the crossbar 601. Each of the linesupport elements 120, 121, 122 and 123 may be hinged with universaljoints. Line support element 120 may be hinged to crossbar 601 byuniversal joint 620. Single axis rotatable axles may be used in place ofuniversal joint 620. Platform 124 is suspended from crossbar 601 byplatform post 600. Any useful device or object may be mounted on theplatform. For example a winch with a harness for raising and lowering anactor may be coupled with the platform. For aquatic embodiments, theplatform may be on the top of the diagram with a counterweight below.The platform itself may comprise active or passive stabilization inbetween crossbar 601 and post 600. Post 600 may or may not extend abovecrossbar 601, and any extension above the crossbar may or may not bebalanced with regards to the center of gravity of the total resultingmass attached to post 600. In other words, the center of gravity may lieabove, below or at the center of gravity of the resulting objectsupported. When the center of gravity lies above the support point caremust be taken to place the center of gravity close enough to the supportpoint so that the platform does not tip over, which can also beaccomplished via active control if desired. In general, placement at thecenter of gravity or where the support point is above the center ofgravity allows passive or even pure free wheeling isolation to beemployed. Crossbar 601 may be substituted with any structure capable ofcoupling with lines including but not limited to a circular orrectangular object.

FIG. 7 shows a close up perspective of platform 700, another embodimentof a platform. This platform is supported by line support elements 120,121, 122 and 123 via universal joints. Platform 700 contains anisolator, for example at least a one axis free spinning gimbal mount 702with inner platform 701 which may support any useful device and may befurther comprise powered axes which may be moved by direct or wirelesscommand. The embodiment may comprise an isolator with one or more axesof platform 701 are isolated and free rotating, or passively stabilizedwith dampers or actively stabilized in terms of pitch, roll and pan axisrotation. The active stabilization may be position, velocity,acceleration, jerk or any other order to distance per time derivative.Platforms may be rotatable from the inside as shown or via the outsideof platform 700 (which would comprise a circular outer shape not shownfor brevity. FIG. 11 shows a variation of FIG. 7 with two line supportelements per side. In this embodiment, each side of platform 700 coupleswith an opposing line via two pulleys per side. Embodiments may employline support elements of any number or any size on the platform.

FIG. 8 shows a close up perspective of platform 124 supported by apassive or active stabilization system 803, which may exist at crossbar601 (not shown for brevity) or at platform 124 as shown, supported byrod 800 which may comprise a counterweight (shown in FIG. 8A) at the topof rod 800 with rod 800 mounted on crossbar 601 slightly above thecenter of gravity of the combination of platform 124, rod 800 andcounterweight 804. Crossbar 601 may be hinged with a universal joint ormay comprise a gimbal as shown in FIG. 7. Many more platform embodimentsare possible and the platforms shown in FIGS. 6, 7, 8 and 11 are merelya small set of examples of the myriad of configurations possible. Anycamera assembly including but not limited to those with vertical orhorizontal orientations and with our without active or passivestabilization may also be supported and moved with embodiments of theinvention. Since the X and Y line (in one or two line embodiments)supports platform 124 from upward angles on each of the platforms sides,there is no need for a tag line or gimbal assembly to provide furtherstabilization although embodiments of the invention may utilize such adevice. In fact, the line support elements on platform 124 act as taglines for moving platform 124 through three dimensional space.

FIG. 1 shows an embodiment of the invention that uses single linesupport elements at all line direction points. Other embodiments may usemultiple line support element arrangements virtually anywhere where asingle line support element is used in order to change direction of aline and further prevent derailing. Line support elements with grooveshapes and rounded edges that minimize the lateral friction on linespassing through the line support elements may be utilized in order tominimize the amount of wasted power in the system. Embodiments of theinvention may use any type of line support element that works with theline specified for the system. Any linear connection device may beutilized in place of line, such as but not limited to cable. Adynamometer may be inserted in-line between Z-axis motor 101 and Zmovement device 104 in order to provide tension readings.

Platform 124 can have many different apparatus attached to it to performa variety of functions including but not limited to stabilizationdevices, gimbals, camera equipment, mining loaders, ship-to-shiploaders, logging devices, ski lift seats, gondolas, body sensing flightsimulator suits for allowing a person to simulate flying, reducedgravity simulator suits, lifting harnesses, munitions depot bombretrievers, digital video equipment for security checks in railroadyards or nuclear facilities, robotic agricultural harvest pickers forquickly picking and storing grapes or other produce or any other devicethat benefits from repeatable placement and motion in three dimensionalspace. In another embodiment, platform 124 comprises a witness cameramounted pointing down from the platform, providing a picture from theviewpoint of the platform. Camera systems previously described may bemounted at above or at approximately the center of gravity of eachdevice with active, passive or a combination of active and passivestabilization in any number of axes, some of which may be multiplyactively or passively stabilized. Platform 124 may comprise line supportelements that may or may not be located on opposing sides of theplatform as long as a line supporting platform 124 travels to supportsthat oppose each other in order to prevent ground collision in the caseof a break on another line side.

In addition to moving platform 124 as per an operator input, embodimentsof the invention contemplate the use of a virtual system simulation topre-plan platform travel paths and thereby determine a preferred cameraangle or platform position. The system stores the path information forsubsequent use in a physical environment. Once the physical structureimplementing one or more aspects of the invention is erected the pathdata provides a basis for movement of the platform or any object coupledwith the platform (e.g., a camera). The simulation is typicallyperformed in a computer environment scaled to match or approximate aphysical location such as a football stadium or movie set. Thus, usersof the system described herein (or any other rigging system preferredfor the task at hand) can attempt various configurations without havingto undertake the expense of an actual system setup.

The virtual system (e.g., rigging) is accomplished in one or moreembodiments of the invention by approximating the location of keyrigging components (e.g., support structures, sheaves, etc . . . ) andbased on the present location of the platform, calculating the effectsof transferring line into the system via the Z movement device ortransferring line from one side of the system to the other side of thesystem via the X junction and Y junction. In this manner it is possibleto simulate platform travel in a virtual environment before implementingthe actual travel sequence in a physical environment. Adjustments orchanges to the path of travel to obtain an optimal angle can be made inthe virtual environment before undertaking the expense of making changesto the physical environment. Each of the virtual systems (e.g., rigs)may possess a different geometry, however, once the geometry is known,and the starting position of the platform is known, control inputs areused in order to calculate the resulting position of the platform. Thistechnique provides a method for determining a path of travel that wouldavoid other virtual objects that have been measured and entered into thesimulation. In addition, since the locations of the supports are knownand the location of the platform is known, the location of the lines maybe calculated. In this way, buildings or trees for example may beavoided by the platform and the lines and a particular travel path maybe performed over and over by computer control without humanintervention or variance. Having a virtual system is advantageous inthat it gives system operators the ability to simulate various systemconfigurations and thereby determine whether it is possible to obtainspecific camera angles.

By selecting travel points to which the platform has traveled and movingthese points through a graphical user interface, the control inputs canbe recalculated in order to meet the desired three-dimensional path andsaved for later playback on the physical embodiment. By simulating anembodiment by measuring and entering the sizes and locations ofsupports, and entering the sizes and locations of known obstacles orwaypoints, a platform travel path may be constructed before the physicalembodiment is completely assembled thereby saving time and effort in thecoverage area.

Embodiments of the invention may be nested in order to allow more thanone object to be moved within a given volume of space. Any additionalinstance of the embodiment of the invention comprising the line or linesreeved in the spirit of the invention whether or not identically reevedas the primary reeving is reeved is termed a nested reeving. FIG. 1Cshows this arrangement. Nesting may be accomplished with for example twonon-buoyant embodiments in air or water, or with two buoyant embodimentswhether in air or water, or with a non-buoyant embodiment above or belowa buoyant embodiment whether either embodiment is in air or water orspace. FIG. 1D shows an articulated arm or boom 1241 supported bycounterweight 1240 to offset the weight of platform 1242 possiblycomprising a camera for example. It is also possible to nest more thantwo embodiments and with pre-planned simulation of flight paths, usersof the system can move a set of objects through a set of complex paths.The ability to plan an object's path has significant benefits includingcollision avoidance and repeatability for example. When filming a moviefor example, it is beneficial to move cameras and actors in coordinated,repeatable paths so that scenes may be filmed for a movie withoutseparate moving objects/actors colliding. Boom 1241 may telescopeoutward, or to the right in the figure, with counterweight 1240automatically moving to the left in the figure for example to keep boom1241 at a given angle with respect to any axis.

FIG. 1E shows a nested embodiment comprising two non-buoyant embodimentswith a buoyant embodiment beneath the two non-buoyant embodiments.Platform 124 may comprise a human actor, while platform 1242 at end ofarticulated arm or boom 1241 supported by counterweight 1240 may becoupled with a camera and used for example to film the human actorcoupled with platform 124. The articulated arm may comprise as manyjoints or degrees of freedom as is desired. Counter weighting theplatform allows the arm to remain in a given position withoutoscillations, and active or passive control systems may be applied inthe system to compensate for arm movement. A camera coupled withplatform 1248 which is coupled to the top of buoyant counterweight 8002supported in the vertical direction by non-buoyant counterweight 8001with or without passive or active control of any axis may be also usedto film the human actor or the view that the human actor would have whenflying through three-dimensional space.

Although the configuration in FIG. 1E shows a buoyant embodiment on thebottom, the buoyant embodiment may be placed on top of non-buoyantembodiments as well and in any combination. Pre-planned simulation offlight paths may be utilized to control the actual flight paths in arepeatable fashion. Although the reeving of the two non-buoyantembodiments is shown in a parallel configuration this is done for easeof illustration as the sheaves in an actual realization in the supportsmay be closer or more spread about than is shown. The generator andelectronic drive units 100 may be used to control the non-buoyantembodiments, while a separate assembly with generator and electronicdrive units 100 a is used to control the buoyant embodiment. With thereeving of the buoyant embodiment switched 180 degrees so that the mainsheave assembly would lie in support 110 for the buoyant embodiment,then generator and electronic drive units 100 a may be eliminated andone assembly of generator and electronic drive units may be used tocontrol all three embodiments in this example. Although the buoyantembodiment is shown in a configuration wherein the lines do not travelbetween supports, the non-buoyant embodiment may also employ thisconfiguration and the buoyant embodiment may employ a configurationwherein some or all of the lines travel directly between supports. (FIG.1 shows a hybrid embodiment wherein some of the line travels betweensupports and some does not. This is the case since there is no directline travel between supports 114 and 116 although line 19 b travelingbetween supports 112 and 114 could easily be reeved directly betweensupports 110 and 114 or 110 to 116 to 114. This would yield anembodiment with line travel between all supports.)

Embodiments may also be recursively nested with one large embodimentmoving an object which actually comprises a small embodiment which maybe independently controlled for example to provide fine tuning. FIG. 1Fis a perspective view of a recursively nested embodiment showing arectangular embodiment supporting a triangular independent embodiment.Control of the large embodiment is separable from control of therecursively nested embodiment. One embodiment may also for example housemore than one nested embodiment, either at the same level as the firstrecursively nested embodiment or at a deeper level, however this is notshown for brevity.

FIG. 1G is a perspective view of a nested dependent embodiment with arod coupling each platform. By moving each Z movement device, X or Yjunction, rod 800 may be positioned into any angle with respect to thevertical. By allowing the lower embodiment to lower the connectionpoint, or upper embodiment to raise rod 800 while allowing rod 800 totraverse vertically with respect to the lower embodiment (sleevemounting the lower embodiment on rod 800), more or less lateral torquemay be applied to a given scenario. Rod 800 may be configured to rotateand may be configured to telescope. Rod 800 may also comprise anarticulated arm or boom. FIG. 1H is a perspective view of a nesteddependent embodiment supporting an articulated arm or boom platform. Inthis figure, rod 800 and boom 1241 may telescope or may be configuredwith static lengths for example.

FIG. 1I is a perspective view of a nested dependent embodiment showingthe ability to rotate the rod out of the vertical. FIG. 1J is aperspective view of a nested dependent embodiment with a passively oractively stabilized platform enabling level support and movement of theplatform. FIG. 1K is a perspective view of a nested dependent embodimentshowing a telescoping rod and rotational capabilities of the rod and/orplatform. As shown in the figure rod 800 has telescoped up, which isanother way in which more torque could be applied to a platform. Theapplication of more torque may be utilized in any situation, for examplewhen an embodiment of the invention is used in mining as with a miningscoop. Platform 124 is also shown rotated with respect to FIG. 1J.Platform 124 may comprise a boom as in FIG. 1H, but is not shown forbrevity.

FIG. 1L is a perspective view of a nested dependent embodiment showingdependence of lines in Z movement device allowing for one line totalconfigured to support and move the platform, or for two total linesreeved in the system. This embodiment allows for simultaneous control ofZ movement for both embodiments. Simultaneous movement using one Zmovement device 104 a keeps the distance between the two inner sheaveassemblies constant as long as the support offsets for the two reevingsystems comprise the same distance between reeving systems as isconfigured along rod 800 (see distance L shown on one support and at rod800 in FIG. 1M). Through use of one line embodiments for the upper andlower nest embodiments, two total ropes may be used as per FIGS. 19A,19B and 19C (two half loops, two whole loops and one half and whole looprespectively), or with one total line in the system as per FIG. 20Aconfigured as one total half loop and FIG. 20B configured as one totalloop of line in the system when the upper and lower reevings are coupledtogether.

FIG. 1M is a perspective view of a nested dependent embodiment showingdependence of X line side and Y line side (whether independent lines orpart of the same single line) with respective bull wheels therebyconfigured to always align the rod at a constant angle with the verticalindependent of position. In this configuration X movement device 103 aand Y movement device 102 a may be used to control the X and Ypositioning of platform 124 wherein rod 800 remains vertical regardlessof position without requiring active control as in prior art devices.

FIG. 1N is a perspective view of a nested dependent embodimentcomprising a Y reeving nested above an X reeving with a passively oractively stabilized platform enabling level support and movement of theplatform. This embodiment may be thought of as a non-nested embodimentwherein half of the reeving is split apart vertically from the otherhalf. Sheaves coupled with rod 800 may comprise braking components sothat for example the upper reeving may be pulled into the figure whilethe lower reeving is not allowed to freely follow by halting therotation of the lower sheaves (121, 123) coupled with rod 800, therebyangling platform 124 in the negative Y direction (out of the figure). Byusing powered sheaves coupled with rod 800 on for example the lowerportion of rod 800 namely sheaves 121 and 123, platform 124 may berotated in the positive Y direction (into the figure) when sheave 120has line taken out of its respective side, (i.e., the rod has beenpulled into the positive y axis) by simultaneously rotating the lowerX-axis sheaves which would normally freely rotate. The sheaves may loopline around them to gain more traction in some embodiments. Thisembodiment is shown with two separate Z movement devices, however one Zmovement device may also be utilized, meaning that the entire embodimentmay comprise one line. Although the embodiment shows two lines coupledwith a pole comprising a platform which may comprise a video ormicrophone device, any other useful device may be coupled with platform124 including but not limited to a telescoping rod, ribbon lift,telescoping boom, articulated arm or any other device. In embodimentswith powered sheaves 120, 121, 122 and 123 rotation of rod 800 may occurwith less line in the system than would normally be employed. Sincesheaves 120, 121, 122 and 123 would require power, the sheaves couldalso be used to charge a battery coupled with rod 800 when moving aboutthe coverage area, i.e., the motors coupled with sheaves 120, 121, 122and 123 can double as generators. By displacing line into the negativeY-axis, sheave 122 rotates while line is being removed from the positiveY-axis side of the system, thereby rotating sheave 120 and thereforesheave 120 and 122 can charge a battery coupled with rod 800 which maybe utilized to power sheaves 121 and 123 or apply breaking pressure tosheaves 121 and 123.

FIG. 13 is a perspective view of a nested dependent embodimentcomprising a nested dependent embodiment utilizing tag line 21. Althoughtwo lines are shown in this embodiment, there is no limit to the numberof tag lines that may be utilized with any embodiment of the system. Thetag line may be utilized to rotate rod 800 with respect to the verticalaxis when coupled with rod 800 at an offset from a second reevingsystem, here shown as an X-axis reeving utilizing one rope. Any knownreeving system may be utilized as one reeving and any other knownreeving system may be utilized as a second reeving nested at an offsetalong rod 800 in order to allow for rotation of rod 800. For example,tag device 102 w may be a winch in this embodiment that is utilized topull the upper portion of rod 800 towards the support housing tag device102 w.

Whether nested or not, embodiments of the invention may comprise radar,optical or acoustic sensors anywhere in the system, for example atplatform 124 in order to provide collision avoidance with stationary ormoving objects. Examples of stationary objects may include trees orbuildings while examples of moving objects may comprise vehicles,sporting implements such as soccer balls, baseballs, footballs, trackand field implements or any other object. By calculating the trajectoryof the stationary or moving object and calculating the position ofplatform 124 and supporting line sides, platform 124 may be moved,thereby moving the line sides and thereby avoiding a collision witheither platform 124 or line sides with an external stationary or movingobject.

Uses of the device in space with thrusters on the platform, or magneticrepulsion or attraction to provide the directional force, i.e., withoutneed for air or water or gravity is readily achieved by adapting theplatform or object being moved to comprise a magnet or compound that isattracted or repulsed in response to a magnetic field of a givendirection.

Thus, a cabling system and method for facilitating fluidthree-dimensional movement of a suspended camera or other object via adirectional force has been described. The claims, however, and the fullscope of any equivalents are what define the metes and bounds of theinvention.

1. A system for facilitating three-dimensional movement of an objectcomprising: a non-empty set of line support elements coupled with anobject having at least one element for applying a directional force; anX line and a Y line coupled with a plurality of sides of said object andwherein said X line and said Y line are configured to move via saidnon-empty set of line support elements; an X junction configured torelocate said X line to effectuate X movement of said object; a Yjunction configured to relocate said Y line to effectuate Y movement ofsaid object; and, a Z movement device configured to displace said X lineand said Y line to effectuate Z movement of said object.
 2. The systemof claim 1 wherein said X line and said Y line are two line sides of aline.
 3. The system of claim 1 further comprising: said X junctioncomprising an X movement motor having an X movement device coupled withsaid X line; said Y junction comprising a Y movement motor having a Ymovement device coupled with said Y line; and, a Z movement motorcoupled with said Z movement device.
 4. A method for facilitatingthree-dimensional movement of an object comprising: relocating an X lineassociated with an object wherein said X line is reeved through aplurality of supports to effectuate X-movement of said object;relocating a Y line associated with said object wherein said Y line isreeved through said plurality of supports to effectuate Y-movement ofsaid object; and, displacing said X line and Y line to effectuateZ-movement of said object.
 5. The method of claim 5 wherein said X lineand Y line are two line sides of a line.